Miguel Ángel González Santamarta
Miguel Ángel González Santamarta
So, in that case, should both states have a service or do you want only one service? For the first case, a new ROS 2-based state can be created, similar...
You can create a node with a service that controls the switch between the states by using a variable on the blackboard. So the states should wait for the service...
StateMachine object is got from the pointer and its operator () is called which returns an outcome.
You should add an outcome to your state machine: ```auto sm = std::make_sharedyasmin::StateMachine(yasmin::StateMachine({"End"}));``` Then, you can add a transition from your Standby state to that outcome (```{"outcome6", "End"}```).
You have to add the final outcomes of the state machine, similar to the states, for instance, "End". Check the [demo](https://github.com/uleroboticsgroup/yasmin/blob/main/yasmin_demo/src/yasmin_demo.cpp).
Hey @amodpatil1, have you source (```source install/setup.bash```) after using colcon?
Have you colcon all the yasmin packages (yasmin, yasmin_msgs, yasmin_demo, yasmin_ros, yasmin_viewe) or only yasmin?
No, since they are different packages.
That is a problem with the ROS 2 distro. Foxy EOL was on June 20th, 2023. Thus, yasmin was updated to Humble.
I have just added support for Foxy. It should work now.